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Cooperative output regulation of multi-agent systems with switched leader dynamics

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  • Chengzhi Yuan
  • Fen Wu

Abstract

In this paper, the cooperative output regulation problem for heterogeneous multi-agent systems is addressed by considering a switched leader dynamics. The switched leader dynamics consists of multiple linear models and a switching rule governing the switches among them. A switched leader is capable of generating various sophisticated reference signals for more complicated multi-agent coordination tasks. A novel distributed hybrid impulsive switching control scheme is proposed to achieve cooperative output regulation. Distributed switching stability is established using the average dwell-time technique with multiple Lyapunov functions. Moreover, the associated distributed control synthesis conditions are formulated in terms of linear matrix inequalities plus linear matrix equations. As a result, both switching rules for the leader and distributed switching protocols for the followers can be jointly synthesised via efficient semi-definite programming. An example has been used to demonstrate the effectiveness of the proposed approach.

Suggested Citation

  • Chengzhi Yuan & Fen Wu, 2018. "Cooperative output regulation of multi-agent systems with switched leader dynamics," International Journal of Systems Science, Taylor & Francis Journals, vol. 49(7), pages 1463-1477, May.
    • Handle: RePEc:taf:tsysxx:v:49:y:2018:i:7:p:1463-1477
    DOI: 10.1080/00207721.2018.1454537
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